The invention discloses a visual
loopback detection method based on an auto-encoding network. The visual
loopback detection method comprises the following steps: 1, acquiring an image; 2, calculatinga memorability
score of the image, comparing the memorability
score with a set memorability
score threshold value, determining whether to reserve the image or not, and determining a
key frame; 3, inputting the screened key frames into a trained convolutional self-encoding network, and obtaining a
GIST global feature f after
noise reduction; 4, taking out a feature fpre from the feature
database, calculating
cosine similarity of two feature vectors fpre and f, comparing the
cosine similarity with a set similarity threshold, determining whether the frame is a candidate frame or not, and performing loop-back
verification; and 5, in a
loopback verification stage, on the premise of completing space consistency
verification, carrying out time consistency verification, enabling one image to meetloopback conditions and become loopback candidate frames in a continuous motion process, enabling the obtained key frames to become candidate frames within a certain
time range, and finally determining loopback only when the conditions are met.